RTK GNSS on a ROS 2 robot: driver, robot_localization and Nav2 checklist

<p>Getting centimetre-level RTK onto an outdoor robot is half hardware, half frames and covariances. Most "my robot drifts / spins / jumps when GNSS comes in" problems come from a handful of configuration mistakes, not from the receiver. This is the checklist we run through when integrating an RTK receiver with ROS 2 (Humble or Jazzy), robot_localization and Nav2.</p> <p><em>Disclosure: I work at

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